CN114194121B - Auxiliary driving system and vehicle - Google Patents
Auxiliary driving system and vehicle Download PDFInfo
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- CN114194121B CN114194121B CN202010911348.1A CN202010911348A CN114194121B CN 114194121 B CN114194121 B CN 114194121B CN 202010911348 A CN202010911348 A CN 202010911348A CN 114194121 B CN114194121 B CN 114194121B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
Abstract
The invention provides an auxiliary driving system and a vehicle, and belongs to the technical field of auxiliary safe driving. The auxiliary driving system comprises a main control system and a standby control system, wherein the main control system and the standby control system can independently realize an auxiliary driving function, the main control system realizes the auxiliary driving function based on a Linux system, and the standby control system realizes the auxiliary driving function based on a single chip microcomputer; after the vehicle is electrified, the main control system and the standby control system are started at the same time, and the standby control system realizes an auxiliary driving function during the starting of the main control system; after the main control system is started or the set exit time is reached, the standby control system exits the auxiliary driving function, and the auxiliary driving function is realized by the main control system. The auxiliary driving function is realized by the singlechip system before the main control system is started, so that the problem that the existing auxiliary driving system realized only on the basis of the Linux system is long in starting time and the auxiliary driving function does not work before the starting is finished is solved.
Description
Technical Field
The invention relates to an auxiliary driving system and a vehicle, and belongs to the technical field of auxiliary safe driving.
Background
In order to reduce traffic accidents caused by human factors and improve traffic safety, a plurality of vehicle types on the market are provided with auxiliary driving systems, and most of the currently developed auxiliary driving systems generally acquire obstacle information around a vehicle body by means of an environment sensing system comprising various sensors such as a millimeter wave sensor, a visual sensor, an ultrasonic sensor, a laser radar sensor and the like, and then combine the obstacle information around the vehicle body with basic state information of the vehicle to realize auxiliary driving functions such as mistaken stepping prevention of an accelerator, collision relief, collision early warning and the like. For example: if the auxiliary driving system judges danger according to the barrier information around the vehicle body and the basic state information of the vehicle, and the driver does not respond to the danger correctly or mistakenly steps on the accelerator pedal, the auxiliary driving system warns and emits beeping sounds through the 3D head-up display screen, the driver is warned, and the vehicle is braked automatically under the necessary condition, so that the vehicle is prevented from colliding with the barrier.
However, the current auxiliary driving system program basically runs in the Cortex-A15LINUX system, and more than 1 minute is needed for the whole auxiliary driving system to be ready from the power-on start of the LINUX system to the completion of initialization of each sensor and decision processing program and to enter a normal working state. In the period of 1 minute, the functions of preventing mistaken stepping on an accelerator, collision early warning and relieving collision in the auxiliary driving system cannot be normally used, and the danger of the vehicle caused by misoperation of a driver cannot be prevented and avoided in the starting stage of the vehicle immediately after the power-on, so that certain potential safety hazard exists.
Disclosure of Invention
The invention aims to provide an auxiliary driving system and a vehicle, which are used for solving the problems that the starting time required by the existing auxiliary driving system is long, and the auxiliary driving function cannot be used during starting, so that potential safety hazards exist.
In order to achieve the above purpose, the invention provides an auxiliary driving system, which comprises a main control system and a standby control system, wherein the main control system and the standby control system can independently realize an auxiliary driving function, the main control system realizes the auxiliary driving function based on a Linux system, and the standby control system realizes the auxiliary driving function based on a singlechip;
after the vehicle is electrified, the main control system and the standby control system are started at the same time, and the standby control system realizes an auxiliary driving function during the starting of the main control system; after the main control system is started or the set exit time is reached, the standby control system exits the auxiliary driving function, and the auxiliary driving function is realized by the main control system.
The auxiliary driving system has the beneficial effects that: the auxiliary driving system comprises two sets of systems, one set is a standby control system for realizing the auxiliary driving function based on a single chip microcomputer, the other set is a main control system for realizing the auxiliary driving function based on a Linux system, and the two sets of systems can independently realize the auxiliary driving function, wherein after a vehicle is electrified, the main control system and the standby control system are started simultaneously, and the standby control system realizes the auxiliary driving function during the starting of the main control system; after the main control system is started or the set exit time is reached, the standby control system exits the auxiliary driving function, and the auxiliary driving function is realized by the main control system. The auxiliary driving function is realized by the singlechip system before the main control system finishes starting, the advantage of short starting time of the singlechip system is fully utilized, the problem that the existing auxiliary driving system realized only based on the Linux system is long in starting time and is not effective before starting is solved, the auxiliary driving function can be realized in the immediately-powered-on starting stage of the vehicle, the vehicle danger caused by misoperation of a driver can be prevented and avoided, and the vehicle is safer.
Further, in the auxiliary driving system, the main control system and the standby control system communicate in real time during the running process of the vehicle, and if the main control system fails, the auxiliary driving system is switched to the standby control system, and the auxiliary driving function is realized by the standby control system.
Further, in the above-described auxiliary driving system, if the standby control system fails or the main control system returns to normal during the auxiliary driving function realized by the standby control system, the auxiliary driving function is realized by the main control system by switching to the main control system.
Further, in the auxiliary driving system, the main control system realizes an auxiliary driving function based on a Cortex-A15Linux system, and the standby control system realizes the auxiliary driving function based on a TC234 singlechip.
The invention also provides a vehicle comprising:
the environment sensing system comprises at least one of a monocular vision sensor, a binocular vision sensor, a millimeter wave sensor, an ultrasonic radar sensor and a laser radar sensor;
the auxiliary driving system comprises a main control system and a standby control system, wherein each sensor in the environment sensing system is in communication connection with the standby control system through a CAN bus, and the main control system is in communication connection with the standby control system through the CAN bus, an SPI bus and an Ethernet;
the main control system and the standby control system are both in communication connection with the whole vehicle controller through a CAN bus;
the main control system and the standby control system can independently realize an auxiliary driving function, the main control system realizes the auxiliary driving function based on a Linux system, and the standby control system realizes the auxiliary driving function based on a singlechip;
after the vehicle is electrified, the main control system and the standby control system are started at the same time, and the standby control system realizes an auxiliary driving function during the starting of the main control system; after the main control system is started or the set exit time is reached, the standby control system exits the auxiliary driving function, and the auxiliary driving function is realized by the main control system.
The beneficial effects of the vehicle are as follows: the auxiliary driving system of the vehicle comprises two sets of systems, wherein one set of the system is a standby control system for realizing the auxiliary driving function based on a single chip microcomputer, the other set of the system is a main control system for realizing the auxiliary driving function based on a Linux system, and the two sets of systems can independently realize the auxiliary driving function, wherein after the vehicle is electrified, the main control system and the standby control system are started simultaneously, and the standby control system realizes the auxiliary driving function during the starting of the main control system; after the main control system is started or the set exit time is reached, the standby control system exits the auxiliary driving function, and the auxiliary driving function is realized by the main control system. The auxiliary driving function is realized by the singlechip system before the main control system finishes starting, the advantage of short starting time of the singlechip system is fully utilized, the problem that the existing auxiliary driving system realized only based on the Linux system is long in starting time and is not effective before starting is solved, the auxiliary driving function can be realized in the immediately-powered-on starting stage of the vehicle, the vehicle danger caused by misoperation of a driver can be prevented and avoided, and the vehicle is safer.
Further, in the vehicle, during the running process of the vehicle, the main control system and the standby control system communicate in real time, if the main control system fails, the main control system is switched to the standby control system, and the standby control system realizes the auxiliary driving function; and when the standby control system realizes the auxiliary driving function, if the standby control system fails or the main control system returns to normal, switching to the main control system, and realizing the auxiliary driving function by the main control system.
The beneficial effects of doing so are: in the running process of the vehicle, the main control system and the singlechip system monitor the state of the other side in real time so as to take over the vehicle in time when the other side fails, ensure the gapless operation of the auxiliary driving function, solve the problem that only one control system exists in the existing auxiliary driving system, and can not ensure the safety of the vehicle when the control system fails, improve the overall reliability, timeliness and safety of the auxiliary driving system, and form a more reliable double-redundancy safety scheme.
Further, in the vehicle, the main control system realizes the auxiliary driving function based on the Cortex-A15Linux system, and the standby control system realizes the auxiliary driving function based on the TC234 singlechip.
Further, in the vehicle, the vehicle further comprises a combination instrument, and the main control system is in communication connection with the combination instrument through a CAN bus.
Further, in the vehicle, the vehicle further comprises an electronic brake system, and the whole vehicle controller is in communication connection with the electronic brake system through a CAN bus.
Further, in the vehicle, the vehicle further comprises a central gateway, and the main control system, the whole vehicle controller and the standby control system are all in communication connection with the central gateway through a CAN bus.
Drawings
FIG. 1 is a schematic diagram of an assisted driving system in an embodiment of a vehicle of the present invention;
FIG. 2 is a flow chart of a switch between the main control system and the SCM system during vehicle travel in an embodiment of the invention.
Detailed Description
The invention provides an auxiliary driving system, which can realize the auxiliary driving functions of preventing accelerator from stepping by mistake, relieving collision, early warning collision and the like of a general auxiliary driving system in the prior art, is suitable for various motor vehicles such as passenger cars, passenger cars and the like, can make up the defect of long starting time required by the existing auxiliary driving system, has the characteristics of short starting time, strong timeliness and higher safety and reliability, and is funded by national natural science foundation (U1664264).
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Vehicle embodiment:
as shown in fig. 1, the vehicle of the present embodiment includes:
the environment sensing system comprises a monocular vision sensor, a binocular vision sensor, a millimeter wave sensor and an ultrasonic radar sensor, and is responsible for acquiring obstacle information (hereinafter referred to as environment sensing data) around a vehicle;
the auxiliary driving system comprises a main control system and a standby control system (i.e. a singlechip system), wherein the main control system and the standby control system can independently realize the auxiliary driving function, the main control system realizes the auxiliary driving function based on a Linux system (such as a Cortex-A15Linux system), and the standby control system realizes the auxiliary driving function based on the singlechip (such as a TC234 singlechip). Each sensor in the environment sensing system is in communication connection with the singlechip system through a CAN bus, and the main control system is in communication connection with the singlechip system through the CAN bus, an SPI bus and an Ethernet;
the whole vehicle controller, the main control system and the singlechip system are all in communication connection with the whole vehicle controller through a CAN bus;
the main control system is in communication connection with the combination instrument through a CAN bus;
an Electronic Brake System (EBS), wherein the whole vehicle controller is in communication connection with the electronic brake system through a CAN bus;
the central gateway, the main control system, the whole vehicle controller and the singlechip system are all in communication connection with the central gateway through a CAN bus.
The following describes the driving assistance system in detail with reference to fig. 1:
as CAN be seen from FIG. 1, each sensor in the environment sensing system is directly connected with the singlechip system by adopting an independent CAN bus, and bidirectional high-speed data communication is performed between the singlechip system and the main control system through an SPI bus and an Ethernet, so that the singlechip system CAN simultaneously send the original environment sensing data acquired by the environment sensing system to the main control system through the SPI bus and the Ethernet, the redundant sending function of the environment sensing data is realized, the real-time sharing of the environment sensing data between the singlechip system and the main control system is realized, and the problem that the main control system cannot receive the environment sensing data due to the failure of one channel is avoided. As other embodiments, each sensor in the environment sensing system CAN be directly connected with the main control system by adopting an independent CAN bus, so that the main control system CAN not only obtain environment sensing data through sharing of the singlechip system, but also directly obtain the environment sensing data from each sensor, and further ensure that the main control system CAN receive the environment sensing data.
Meanwhile, stable and redundant bidirectional state supervision CAN be realized between the single chip microcomputer system and the main control system through the CAN bus, so that the main control system and the single chip microcomputer system CAN grasp state information (fault or normal) of the other side in real time, so that vehicles CAN be taken over in time when the other side fails, the gapless operation of an auxiliary driving function is ensured, and the driving safety is improved; as other real-time modes, the states of the singlechip system and the main control system can be monitored in real time through the whole vehicle controller, and when one of the states fails, the other vehicle is informed by the whole vehicle controller to take over the vehicle, so that the gapless operation of the auxiliary driving function is ensured.
In this embodiment, redundant data communication between the main control system and the singlechip system is realized through the CAN bus, the ethernet and the SPI bus, so that data reliability is improved, wherein the problems of low data bandwidth and small transmission data volume of the CAN bus are solved by adding the ethernet transmission channel, the problems of interference and packet loss in single-channel ethernet communication are solved by adding the SPI bus transmission channel, and a more stable and reliable data transmission channel is realized.
In this embodiment, the main control system and the singlechip system have the same functions, and can obtain the fusion result of the obstacle information around the vehicle body by analyzing and processing the original environment sensing data acquired by the environment sensing system, and realize the auxiliary driving functions of preventing mistaken stepping on the accelerator, relieving collision, early warning collision and the like according to the fusion result of the obstacle information and the basic state information of the vehicle. The accelerator mistaken stepping prevention function is used in a vehicle starting stage, and under the condition that an obstacle exists in front of the accelerator mistaken stepping prevention function and a driver suddenly steps on the accelerator to start, the main control system or the singlechip system sends a braking instruction to the vehicle, so that the operation of not responding to the sudden stepping on the accelerator to start of the driver is achieved, and the occurrence of vehicle danger caused by misoperation of the driver is avoided. The collision relief and collision early warning function is used for a vehicle driving stage, an obstacle is arranged in front of the vehicle, the main control system or the single chip microcomputer system displays early warning information through the vehicle combination instrument and sends out beeping sounds to remind the driver of braking and avoiding the obstacle under the condition that the vehicle is not braked yet after collision early warning reminding, and the main control system or the single chip microcomputer system sends out a braking instruction according to the current vehicle speed, so that the collision between the vehicle and the obstacle in front is avoided and slowed down as much as possible.
In the embodiment, the environment sensing system comprises a monocular vision sensor, a binocular vision sensor, a millimeter wave sensor and an ultrasonic radar sensor, and as the environment sensing system comprises a plurality of sensors, the access of sensing data of the plurality of sensors ensures more accurate obstacle information fusion results, reduces the probability of vehicle danger caused by false triggering of an auxiliary driving function due to false alarm and false omission of obstacle information, and improves the driving comfort of the vehicle; as other embodiments, the types and the number of the sensors included in the environment sensing system may be set according to actual needs, for example, the environment sensing system may further include a lidar sensor.
The operation of the auxiliary driving system of the present embodiment is described in detail below with reference to fig. 2:
(1) After the vehicle is electrified, the main control system and the singlechip system are started simultaneously, and the singlechip system realizes an auxiliary driving function during the starting of the main control system; after the start of the main control system is finished or the set exit time is reached (the exit time is greater than or equal to the start time required by the main control system), the singlechip system exits the auxiliary driving function, and the auxiliary driving function is realized by the main control system;
(2) In the running process of the vehicle, the main control system and the singlechip system communicate in real time (for example, the opposite side state is monitored in real time through a vehicle body control system in the two systems), if the main control system fails, the main control system is switched to the singlechip system, and the singlechip system realizes the auxiliary driving function; and when the singlechip system realizes the auxiliary driving function, if the singlechip system fails or the main control system is recovered to be normal, switching to the main control system, and realizing the auxiliary driving function by the main control system.
In other words, in order to ensure that the auxiliary driving function runs without gaps in the vehicle driving process, the main control system and the singlechip system both analyze and process the environment sensing data acquired by the environment sensing system and generate corresponding control instructions according to the fusion result of the obstacle information and the basic state information of the vehicle, but only one system can send control information related to auxiliary driving to the outside at the same time.
Wherein, the single chip microcomputer system breaks down and includes following several cases: 1) The SCM system detects that the environment sensing data is unavailable, including the problem of the environment sensing system itself or the abnormal communication between the SCM system and the environment sensing system; 2) The singlechip system does not receive the basic information of the vehicle beyond the set time (for example, 30 seconds).
In summary, the driving assisting system of the embodiment includes two systems, one is a standby control system realized based on a single-chip microcomputer, the other is a main control system realized based on a Linux system, and the driving assisting functions such as mistaken stepping prevention of an accelerator, collision early warning and collision relieving are realized through bidirectional supervision monitoring and dynamic switching of the single-chip microcomputer system and the main control system. The singlechip system has the advantages of short starting time, high performance, high reliability, low power consumption and the like, realizes the auxiliary driving function by the singlechip system before the main control system finishes starting, fully utilizes the advantage of short starting time of the singlechip system, solves the problems that the starting time required by the existing auxiliary driving system realized only based on the Linux system is long and the auxiliary driving function does not work before the starting is finished, ensures that the auxiliary driving function can be realized at the immediately-powered-on starting stage of the vehicle, can also prevent and avoid the vehicle danger caused by misoperation of a driver, and is safer; in the running process of the vehicle, the main control system and the singlechip system monitor the state of the other side in real time so as to take over the vehicle in time when the other side fails, ensure the gapless operation of the auxiliary driving function, solve the problem that only one control system exists in the existing auxiliary driving system, and can not ensure the safety of the vehicle when the control system fails, improve the overall reliability, timeliness and safety of the auxiliary driving system, and form a more reliable double-redundancy safety scheme.
Auxiliary driving system embodiments:
the driving assistance system of the present embodiment is the same as that of the vehicle embodiment, and will not be described here again.
Claims (10)
1. The auxiliary driving system is characterized by comprising a main control system and a standby control system, wherein the main control system and the standby control system can independently realize an auxiliary driving function, the main control system realizes the auxiliary driving function based on a Linux system, and the standby control system realizes the auxiliary driving function based on a single chip microcomputer;
after the vehicle is electrified, the main control system and the standby control system are started at the same time, and the standby control system realizes an auxiliary driving function during the starting of the main control system; after the main control system is started or the set exit time is reached, the standby control system exits the auxiliary driving function, and the auxiliary driving function is realized by the main control system.
2. The driving assist system as set forth in claim 1, wherein the main control system and the backup control system communicate in real time during running of the vehicle, and if the main control system fails, the main control system is switched to the backup control system, and the driving assist function is realized by the backup control system.
3. The driving support system according to claim 2, wherein the driving support function is realized by the main control system if the standby control system fails or the main control system returns to normal during the driving support function realized by the standby control system.
4. A driving assistance system according to any one of claims 1-3, wherein the main control system implements a driving assistance function based on a Cortex-a15Linux system, and the standby control system implements a driving assistance function based on a TC234 single chip microcomputer.
5. A vehicle, characterized in that the vehicle comprises:
the environment sensing system comprises at least one of a monocular vision sensor, a binocular vision sensor, a millimeter wave sensor, an ultrasonic radar sensor and a laser radar sensor;
the auxiliary driving system comprises a main control system and a standby control system, wherein each sensor in the environment sensing system is in communication connection with the standby control system through a CAN bus, and the main control system is in communication connection with the standby control system through the CAN bus, an SPI bus and an Ethernet;
the main control system and the standby control system are both in communication connection with the whole vehicle controller through a CAN bus;
the main control system and the standby control system can independently realize an auxiliary driving function, the main control system realizes the auxiliary driving function based on a Linux system, and the standby control system realizes the auxiliary driving function based on a singlechip;
after the vehicle is electrified, the main control system and the standby control system are started at the same time, and the standby control system realizes an auxiliary driving function during the starting of the main control system; after the main control system is started or the set exit time is reached, the standby control system exits the auxiliary driving function, and the auxiliary driving function is realized by the main control system.
6. The vehicle according to claim 5, wherein the main control system and the backup control system communicate in real time during the running of the vehicle, and if the main control system fails, the main control system is switched to the backup control system, and the backup control system realizes the auxiliary driving function; and when the standby control system realizes the auxiliary driving function, if the standby control system fails or the main control system returns to normal, switching to the main control system, and realizing the auxiliary driving function by the main control system.
7. The vehicle according to claim 5 or 6, characterized in that the main control system implements a driving assistance function based on a Cortex-a15Linux system, and the standby control system implements a driving assistance function based on a TC234 single chip microcomputer.
8. The vehicle of claim 7, further comprising a cluster, wherein the master control system is communicatively coupled to the cluster via a CAN bus.
9. The vehicle of claim 8, further comprising an electric brake system, wherein the vehicle controller is communicatively coupled to the electric brake system via a CAN bus.
10. The vehicle of claim 9, further comprising a central gateway, wherein the main control system, the vehicle controller, and the standby control system are all communicatively coupled to the central gateway via a CAN bus.
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